CN212218488U - A hazardous chemical disaster site reconnaissance sampling robot - Google Patents

Abstract

The utility model provides a hazardous chemical disaster site reconnaissance and sampling robot, which includes a robot body, and the robot body includes a crawler chassis, and a driving system is arranged on both sides of the crawler chassis; arm, sampler and imaging system; wherein, the driving system, robotic arm, sampler and imaging system are all connected with an external control system; the driving system drives the robot body to move; the front-end scene of the robot body is collected through the imaging system and transmitted to External control system; control the manipulator through the external control system to control the small angle range, so that the manipulator can drive the sampler to the appropriate sampling location and at the appropriate sampling height and angle; at the same time control the sampler to perform needle extraction, sampling, needle return, etc. A series of fixed actions completes a sampling work; the structure can understand the on-site environment through the imaging system, remotely control the robot through wireless communication, and control the robot's actions by combining the fixed program and the manual fine-tuning program, which greatly increases the robot's performance. Flexible, making the manipulation more flexible and reliable.

Description

A hazardous chemical disaster site reconnaissance sampling robot

technical field

The utility model belongs to the field of machinery, and is specifically applied to a reconnaissance and sampling robot for hazardous chemical disasters.

Background technique

In the explosion or leakage accidents of dangerous goods all over the world, in order to formulate an effective rescue plan, it is necessary to carry out detailed reconnaissance on the accident site. The method of camera recording the scene, scouts need to risk their lives; at present, it has become a trend to use robots to replace humans in some dangerous work. The status quo of rescue reconnaissance further protects the safety of rescuers and increases the controllability of the accident scene. In order to make the robot work more effectively in the application, a reliable and easy-to-operate human-computer interaction control system is essential.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a hazardous chemical disaster site reconnaissance sampling robot, which solves the defect of poor reliability existing in the existing robot and human-machine interactive control system.

In order to achieve the above-mentioned purpose, the technical scheme that the utility model adopts is:

The utility model provides a hazardous chemical disaster site reconnaissance and sampling robot, which includes a robot body, and the robot body includes a crawler chassis, and a driving system is arranged on both sides of the crawler chassis; An arm, a sampler and an imaging system; wherein, the traveling system, the robotic arm, the sampler and the imaging system are all connected with an external control system.

Preferably, the driving system includes a first brushless DC motor, a driving wheel, a driven wheel, a bearing wheel and a trapezoidal double-sided tooth synchronous belt, wherein a plurality of the bearing wheels are provided and arranged in parallel; the driving wheel The wheel, the driven wheel and the plurality of load-bearing wheels are arranged in a trapezoidal structure; the axes of the driving wheel and the driven wheel are parallel to each other; the trapezoidal double-sided tooth synchronous belt is meshed and connected with the driving wheel, the driven wheel and the load-bearing wheel respectively; The wheel drive is connected with the output shaft of the first brushless DC motor; a first reducer is arranged between the output shaft of the first brushless DC motor and the driving wheel.

Preferably, the robotic arm includes an actuator and a drive mechanism, and the drive mechanism and the actuator are connected in a driving manner; the actuator includes a turntable body, a first actuator arm, a second actuator arm, a first connection body, and a second connection body, wherein the turntable body is fixed on the drive mechanism, the first execution arm and the turntable body are drivingly connected, and the first execution arm and the second execution arm are hingedly connected through a first connecting body; The free end of the arm is connected to the second connecting body.

Preferably, the drive mechanism includes a second brushless DC motor, a second reducer, a driving bevel gear, a driven bevel gear, a first output shaft, a thrust ball bearing, a rolling bearing and an alignment ring, wherein the second DC brushless The output shaft of the motor is connected to the second reducer, and the output shaft of the second reducer is connected to the driving bevel gear; the driven bevel gear is sleeved on the first output shaft, and the driven bevel gear is meshed with the driving bevel gear; The thrust ball bearing is fixed on the first motor support, and one end of the first output shaft is mounted on the thrust ball bearing;

The other end of the first output shaft is sleeved with a rolling bearing, and a centering ring is sleeved on the rolling bearing;

The other end of the first output shaft is connected with a turntable through the first motor bracket;

The axis of the first output shaft and the axis of the output shaft of the second reducer are perpendicular to each other; the turntable body is mounted on the turntable.

Preferably, the turntable body includes a second stepper motor, a second motor support, a third reducer and a second output shaft, wherein the output shaft of the second stepper motor is connected to the third reducer, and the third reducer The output shaft of the machine is sleeved with a bevel gear, the bevel gear is meshed with a first bevel gear, the first bevel gear is sleeved at one end of the second output shaft, and the other end of the second output shaft is connected to the first actuator. arm; the axis of the second output shaft and the axis of the third reducer are perpendicular to each other.

Preferably, the first actuator arm includes a first connector, one end of the first connector is fixedly connected to one end of the first connector; the other end of the first connector is hingedly connected to the second actuator arm; the The second actuator arm includes a second connecting piece, one end of the second connecting piece is hingedly connected with the first connecting body; the other end of the second connecting piece is fixedly connected with the second connecting body.

Preferably, the first connecting body has the same structure as the second connecting body, wherein the first connecting body is a frame structure; a stepping motor is installed on the first connecting body, and the output shaft of the stepping motor is sleeved with a third bevel gear, the third bevel gear is meshed with a fourth bevel gear, the fourth bevel gear is sleeved on one end of the third transmission shaft, and the third transmission shaft is mounted on the first connecting body; the The other end of the second transmission shaft is drivingly connected with a second connecting piece; a third stepping motor is installed on the second connecting body, and a fifth bevel gear is sleeved on the output shaft of the third stepping motor, and the The fifth bevel gear is meshed with a second bevel gear, the second bevel gear is sleeved on one end of the first transmission shaft, and the other end of the first transmission shaft is drivingly connected with a sampler.

Preferably, the sampler includes a fourth stepper motor, a first flange seat, a first end cover and a first outer ring slideway, wherein the fourth stepper motor is fixed on the first flange seat; the first The flange seat is connected to one end of the first outer ring slideway; the other end of the first outer ring slideway is connected to the first end cover; the output shaft of the fourth stepping motor is connected to the second transmission shaft; A first bearing is sleeved on the two transmission shafts, and the first bearing is fixed on the first flange seat; the free end of the second transmission shaft is also sleeved with a first cylindrical cam, and the first cylindrical cam is fixed on the on the second drive shaft; the first cylindrical cam is placed in the inner cavity of the first outer ring slideway on the cylindrical surface of the straight slideway, and the two are arranged coaxially; the cylindrical surface of the first outer ring slideway A plurality of first sliding blocks are arranged in the inner cavity of the straight slideway, and the plurality of first sliding blocks are evenly distributed along the circumferential direction of the first outer ring slideway;

Each first sliding block is slidably connected to the inner wall of the first outer ring slideway; each first sliding block is provided with a first groove, and a sampling needle is installed in the first groove, and the sampling needle The free end of the puncture needle sampling container is connected with a hose; each first slider is provided with a guide rod, the guide rod is sleeved with a first return spring, and the free end of the first return spring is placed on the first into the spring guide slot opened on the end cover.

Preferably, the sampling container includes a fifth stepping motor, a second flange seat, a fourth transmission shaft, a second bearing, a second cylindrical cam, a second outer ring slide, a second end cover, a cage and a housing , wherein the fifth stepper motor is sequentially connected with the second flange seat, the second outer ring slide, the second end cover, the cage and the housing;

The output shaft of the fifth stepping motor is connected to the fourth transmission shaft, the fourth transmission shaft is sleeved with a second bearing, and the second bearing is mounted on the bearing seat on the second flange seat;

The free end of the fourth transmission shaft is also sleeved with a second cylindrical cam;

The second cylindrical cam is placed in the inner cavity of the second outer ring slideway whose cylindrical surface is straight through the slideway, and the two are arranged coaxially;

The inner cavity of the second outer ring slideway is evenly distributed with a plurality of second sliding blocks along its circumferential direction; the second sliding block and the cylindrical surface of the second outer ring slideway are directly connected to the side wall of the inner cavity of the slideway sliding connection;

Each second slider is provided with a second groove, a puncture needle is installed in the second groove, and one end of each puncture needle is connected to the sampler through a hose; the other end of each puncture needle is connected to There is a vacuum tube, one end of the vacuum tube is mounted on the holder, and the other end is mounted on the housing;

The second sliding block is provided with a guide rod, the guide rod is sleeved with a second return spring, and the free end of the second return spring is placed in the spring guide groove opened on the second end cover.

Preferably, a buckle is provided on the outer side wall of the casing, and is connected to the second outer ring slideway through the buckle.

Compared with the prior art, the beneficial effects of the present utility model are:

The utility model provides a hazardous chemical disaster site reconnaissance and sampling robot, which drives the robot body to move through a driving system; collects the front-end scene of the robot body through an imaging system and transmits it to an external control system; Scope control, so that the robotic arm drives the sampler to the appropriate sampling location and at the appropriate sampling height and angle; at the same time, the sampler is controlled to perform a series of fixed actions such as needle withdrawal, sampling, and needle return to complete a sampling work; this structure can Understand the scene environment through the imaging system, remotely control the robot through wireless communication, and control the action of the robot by a combination of fixed programs and manual fine-tuning programs, which greatly increases the flexibility of the robot and makes the manipulation more flexible and reliable.

Description of drawings

Figure 1 is an isometric view of a hazardous chemical disaster site investigation and sampling robot;

Figure 2 is an isometric view of the mechanical crawler chassis;

3 is a cross-sectional view of a robotic arm drive mechanism;

Figure 4 is an isometric view of the robotic arm;

5 is a sectional view of the sampler structure;

Figure 6 is a sampler isometric view;

Fig. 7 is the structural sectional view of sampling container;

Figure 8 is a schematic diagram of the console structure;

Among them, 1. Sub camera 2, sampler 3, robotic arm 4, main camera 5, crawler chassis 6, sampling container 7, threaded hole 8, DC brushless motor 9, battery 10, first reducer 11, trapezoidal double-sided Tooth synchronous belt 12, driving wheel 13, bearing wheel support rod 14, bearing wheel 15, driven wheel 16, first stepping motor 17, second reducer 18, driving bevel gear 19, gasket 20, rolling bearing 21, centering ring 22. The first output shaft 23, the driven bevel gear 24, the thrust ball bearing 25, the third reducer 26, the second motor bracket 27, the deep groove ball bearing 28, the first bevel gear 29, the second stepper motor 30, The second connecting body 31, the second bevel gear 32, the first transmission shaft 33, the third stepping motor 34, the second connecting piece 35, the first connecting piece 36, the first connecting body 37, the connecting plate 38, the first end Cover 39, first outer ring slideway 40, first cylindrical cam 41, first bearing 42, first flange seat 43, second transmission shaft 44, fourth stepper motor 45, first slider 46, sampling needle 47. The first return spring 48, the fifth stepper motor 49, the second flange seat 50, the fourth transmission shaft 51, the second bearing 52, the second cylindrical cam 53, the second outer ring slideway 54, the second end Cover 55, retainer 56, buckle 57, housing 58, second slider 59, puncture needle 60, second return spring 61, vacuum tube 62, liquid crystal display 63, robotic arm control key 64, sampler control key 65. Camera control key 66. Crawler walking steering control key.

Detailed ways

The present utility model will be described in detail below with reference to the accompanying drawings.

As shown in Figures 1 and 2, the present invention provides a hazardous chemical disaster site reconnaissance sampling robot, including a robot body, the robot body includes a crawler chassis 5, and the two sides of the crawler chassis 5 are arranged with a driving system.

The upper end surface of the crawler chassis 5 is arranged with a robotic arm, a sampler and an imaging system.

The walking system, the robotic arm, the sampler and the imaging system are all connected with an external control system.

The driving system adopts the mechanical structure of "three wheels and one belt"; it includes a driving wheel 12, a driven wheel 15, a load-bearing wheel 14 and a trapezoidal double-sided toothed synchronous belt 11, wherein, the load-bearing wheels 14 are provided with multiple and arranged side by side ; The driving wheel 12, the driven wheel 15 and a plurality of load-bearing wheels 14 are arranged in a trapezoidal structure; the axes of the driving wheel 12 and the driven wheel 15 are parallel to each other.

The trapezoidal double-sided tooth timing belt 11 is meshed and connected with the driving wheel 12 , the driven wheel 15 and the bearing wheel 14 respectively.

The bearing wheel 14 is fixed on the crawler chassis 5 through the bearing wheel support rod 13 .

The output shaft of the first brushless DC motor 8 is drivingly connected to the driving wheel 12 ; a first reducer 10 is arranged between the output shaft of the first brushless DC motor 8 and the driving wheel 12 .

The robotic arm includes an actuator and a driving mechanism, and the driving mechanism and the actuator are drivingly connected.

The drive mechanism includes a second brushless DC motor 16, a second reducer 17, a driving bevel gear 18, a driven bevel gear 23, an output shaft 22, a thrust ball bearing 24, a rolling bearing 20 and an alignment ring 21, wherein the second The output shaft of the brushless DC motor 16 is connected to the second reducer 17 , and the output shaft of the second reducer 17 is connected to the driving bevel gear 18 .

The driven bevel gear 23 is sleeved on the first output shaft 22 , and the driven bevel gear 23 is meshed with the driving bevel gear 18 .

The second reducer 17 is fixed on the first motor bracket.

The thrust ball bearing 24 is fixed on the first motor support 1601 , and one end of the first output shaft 22 is mounted on the thrust ball bearing 24 .

The other end of the first output shaft 22 is sleeved with a rolling bearing 20, the rolling bearing 20 is sleeved with a centering ring 21, and the centering ring 21 is buckled on the rolling bearing 20 to limit and fix the upper end of the rolling bearing 20; the first The end of the output shaft 22 is connected to a turntable 1602 through the first motor support, and a gasket 19 is provided between the turntable 1602 and the first motor support 1601 .

The axis of the first output shaft 22 and the axis of the output shaft of the second reducer 17 are perpendicular to each other.

The actuator includes a turntable body, a first execution arm, a second execution arm, a first connection body and a second connection body, wherein the turntable body is fixed on the turntable 1602, and the first execution arm and the turntable body drive The first actuator arm and the second actuator arm are hingedly connected through a first connection body 36 ; the free end of the second actuator arm is connected to the second connection body 30 .

The turntable body includes a second stepper motor 29, a second motor bracket 26, a third reducer 25 and a second output shaft, wherein the output shaft of the second stepper motor 29 is connected to the third reducer 25, and the first A bevel gear is sleeved on the output shaft of the third reducer 25, the bevel gear is meshed with a first bevel gear 28, the first bevel gear 28 is sleeved at one end of the second output shaft, and two parts of the second output shaft are sleeved. The end is mounted on the second motor bracket 26 ; deep groove ball bearings 27 are arranged between the two ends of the second output shaft and the second motor bracket 26 .

The axis of the second output shaft and the axis of the third reducer 25 are perpendicular to each other.

The other end of the second output shaft is connected to the first actuator arm.

The first actuator arm includes a first connector 35, one end of the first connector 35 is fixedly connected to one end of the first connector body; the other end of the first connector body is hingedly connected to the second actuator arm.

The second actuator arm includes a second connecting piece 34 , one end of the second connecting piece 34 is hingedly connected with the first connecting body 36 ; the other end of the second connecting piece 34 is fixedly connected with the second connecting body 30 .

The first connecting body 36 has the same structure as the second connecting body 30 , wherein the first connecting body 36 is a frame structure.

The first connecting body 36 is mounted with a stepping motor, the output shaft of the stepping motor is sleeved with a third bevel gear, the third bevel gear is meshed with a fourth bevel gear, and the fourth bevel gear is sleeved At one end of the third transmission shaft, the third transmission shaft is mounted on the first connecting body 36 .

A second connecting member 34 is drivingly connected to the other end of the third transmission shaft.

A third stepping motor 33 is installed on the second connecting body 30 , a fifth bevel gear is sleeved on the output shaft of the third stepping motor 33 , and a second bevel gear 31 is engaged with the fifth bevel gear. , the second bevel gear 31 is sleeved on one end of the first transmission shaft 32 , and the first transmission shaft 32 is installed on the second connecting body 30 .

A sampler is drivingly connected to the other end of the first transmission shaft 32 .

The turning on of the first step motor 16 drives the driving bevel gear 18 to rotate, which in turn acts as an agent for the driven bevel gear 23 to rotate, and drives the turntable 1602 to rotate through the output shaft 22 .

Since the turntable body is mounted on the turntable 1602, the turntable body rotates accordingly.

The opening of the second stepping motor 29 drives the bevel gear, the first bevel gear 28 and the second output shaft to rotate in turn, and then drives the first actuator arm to rotate.

The turning on of the stepping motor drives the third bevel gear, the fourth bevel gear and the third transmission shaft to rotate in turn, which in turn drives the second execution arm to rotate.

The turning on of the third stepping motor 33 drives the fifth bevel gear, the second bevel gear 31 and the first transmission shaft 32 to rotate in turn, and then drives the sampler to rotate.

The sampler includes a fourth stepper motor 44 , a first flange seat 42 , a first end cover 38 and a first outer ring slideway 39 , wherein the fourth stepper motor 44 is fixed on the first flange seat 42 ; The first flange seat 42 is connected to one end of the first outer ring slideway 39 ; the other end of the first outer ring slideway 39 is connected to the first end cover 38 .

The output shaft of the fourth stepping motor 44 is connected to the second transmission shaft 43 ; the second transmission shaft 43 is sleeved with a first bearing 41 , and the first bearing 41 is fixed on the first flange seat 42 .

A first cylindrical cam 40 is also sleeved on the free end of the second transmission shaft 43 , and the first cylindrical cam 40 is fixed on the second transmission shaft 43 .

The first cylindrical cam 40 is placed in the inner cavity of the cylindrical surface of the first outer ring slideway 39 straight through the slideway, and the two are arranged coaxially.

A plurality of first sliding blocks 45 are arranged in the cylindrical surface of the first outer ring slideway 39 straight into the inner cavity of the slideway, and the first slide blocks 45 are evenly distributed along the cylindrical direction of the first outer ring slideway 39 .

The first sliding block 45 is slidably connected to the inner wall of the first outer ring slideway 39 .

The first sliding block 45 is provided with a first groove, a sampling needle 46 is installed in the first groove, and the handle portion of the sampling needle 46 is fixedly connected with the first sliding block 45 .

The first slider 45 is provided with a guide rod, the guide rod is sleeved with a first return spring 47 , and the free end of the first return spring 47 is placed in the spring guide groove opened on the first end cover 38 . .

When the first cylindrical cam 40 is not in contact with the first sliding block 45 , the first sliding block is returned to the position by the first return spring 47 .

The free end of the sampling needle 46 is connected with a puncture needle sampling container through a hose.

The output shaft of the fourth stepping motor 44 rotates to drive the second transmission shaft 43 and the first cylindrical cam 40 to rotate; during the rotation of the first cylindrical cam 40, the first sliding block 45 is pushed along the first outer ring slideway 39 The cylindrical surface of the cylinder moves back and forth through the inner wall of the slideway; and then drives the sampling needle 46 to move back and forth.

The sampling container includes a fifth stepping motor 48, a second flange seat 49, a fourth transmission shaft 50, a second bearing 51, a second cylindrical cam 52, a second outer ring slideway 53, a second end cover 54, The retainer 55 and the housing 57, wherein the fifth stepper motor 48 is connected to the second flange seat 49, the second outer ring slideway 53, the second end cover 54, the retainer 55 and the housing 57 in sequence.

The output shaft of the fifth stepping motor 48 is connected to the fourth transmission shaft 50 , the fourth transmission shaft 50 is sleeved with a second bearing 51 , and the second bearing 51 is mounted on the bearing on the second flange seat 49 seat.

The free end of the fourth transmission shaft 50 is also sleeved with a second cylindrical cam 52 , and the second cylindrical cam 52 is fixed on the fourth transmission shaft 50 .

The second cylindrical cam 52 is placed in the inner cavity of the second outer ring slideway 53 whose cylindrical surface is straight through the slideway, and the two are arranged coaxially.

A plurality of second sliding blocks 58 are evenly distributed in the inner cavity of the second outer ring slideway 53 along its circumferential direction; The side walls of the cavity are slidably connected.

The second slider 58 is provided with a second groove, and a puncture needle 59 is installed in the second groove. One end of the puncture needle 59 is connected to the sampler through a hose; A vacuum tube 61 is connected to one end.

The second slider 58 is provided with a guide rod, the guide rod is sleeved with a second return spring 60 , and the free end of the second return spring 60 is placed in the spring guide groove opened on the second end cover 54 . .

One end of the vacuum tube 61 is fixed on the holder, and the other end is fixed in the slot opened on the casing 57 .

The outer side wall of the casing 57 is provided with a buckle 56 , which is connected to the second outer ring slideway 53 through the buckle 56 .

The vacuum tube is a glass tube or a small container with a certain negative pressure, which uses its own negative pressure to absorb the external liquid through a pipette and a sampling needle to complete the liquid sampling function. It is similar to the vacuum tube currently used for blood collection in hospitals. A sampling container is a container that holds many vacuum tubes. The robot can carry two sampling containers at a time, and each sampling container contains six vacuum tubes, that is, the robot can complete the sampling of liquids at 12 different measuring points at one time.

The imaging system includes a camera 1 , which is used to collect the situation of the disaster site and transmit the collected image information to an external control system; the camera 1 is installed on the second connecting body 30 .

The external control system includes a console, an independent keyboard, a matrix keyboard, a liquid crystal display screen, a wireless transmitting unit and a voice broadcasting unit, wherein the console is respectively connected with an independent keyboard, a matrix keyboard, a liquid crystal display screen, a wireless transmitting unit and a voice broadcasting unit.

The independent keyboard includes two toggle switches, which respectively control the high-speed gear and the low-speed gear of the traveling mechanism and the mechanical arm.

The matrix keyboard includes a robotic arm control key 63, a sampler control key 64, a camera control key 65 and a crawler walking steering control key 66, specifically:

The matrix keyboard is in the form of 5*5, corresponding to 25 keys, which control the forward movement of the robot, the left turn of the robot, the right turn of the robot, the backward movement of the robot, the fine adjustment of the forward rotation of the turntable body, and the forward movement of the first actuator arm. Fine adjustment of rotation, fine adjustment of forward rotation of the second actuator arm, fine adjustment of forward rotation of the second connecting body, fine adjustment of the reverse rotation of the turntable body, fine adjustment of the reverse rotation of the first actuator arm, fine adjustment of the reverse rotation of the second actuator arm, and fine adjustment of the reverse rotation of the second connecting body Reverse fine-tuning, liquid sampler and gas sampler needle out, sampling, return needle and emergency stop commands.

The liquid crystal display screen displays the instructions executed by the robot, the power usage of the body, and the environmental parameters of the accident site sent back from the operation end.

The voice broadcasting module broadcasts the robot movements, airframe performance status and the environmental risk index of the accident site in real time, so that the operator has a clearer understanding and accurate judgment of the situation at the disaster site.

The whole process of the robot's movements is controlled by the console remotely; the operator makes judgments from the audio and video information and the environmental parameters of the accident site, the console sends walking instructions, the DC brushless motor moves, and the robot moves forward, backward, left, and right at a suitable speed. ;After arriving at the designated place, the robot stops walking, the console sends the robot arm initialization command, and the stepper motor in the robot arm module is linked to make the waist, big arm, forearm and wrist automatically move to a certain position, and then perform manual fine-tuning. That is, the stepper motors of the drive mechanism, the turntable body, the first actuator arm, the second actuator arm, the first connecting body and the second connecting body are regulated in a small angle range, so that the sampler can reach a suitable sampling location and be in a suitable sampling position. Height and angle, at this time, the console sends out a sampling command, and the stepper motor moves, so that the sampler performs a series of fixed actions such as needle-out, sampling, and needle-returning, and a sampling work is completed. The operator can adjust the position and angle of the robotic arm, repeat the above operations, and continue the next sampling, or press the reset command to reset the robot and bring the sample back.

Claims (10)

1. A hazardous chemical disaster site reconnaissance sampling robot is characterized in that, comprising a robot body, and the robot body comprises a crawler chassis (5), and a driving system is arranged on both sides of the crawler chassis (5); the crawler track A robotic arm, a sampler and an imaging system are arranged on the upper end surface of the chassis (5); wherein, the driving system, the robotic arm, the sampler and the imaging system are all connected with an external control system. 2. A hazardous chemical disaster site reconnaissance sampling robot according to claim 1, wherein the driving system comprises a DC brushless motor (8), a driving wheel (12), a driven wheel (15), a load-bearing A pulley (14) and a trapezoidal double-sided tooth timing belt (11), wherein the load-bearing pulley (14) is provided with a plurality of and arranged side by side; the drive pulley (12), the driven pulley (15) and the plurality of load-bearing pulleys (14) The wheels (14) are arranged in a trapezoidal structure; the axes of the driving wheel (12) and the driven wheel (15) are parallel to each other; ) is meshed with the bearing wheel (14); the drive wheel (12) is drivingly connected with the output shaft of the brushless DC motor (8); the output shaft of the brushless DC motor (8) is connected with the drive wheel (12). A first reducer (10) is arranged between. 3 . A hazardous chemical disaster site reconnaissance sampling robot according to claim 1 , wherein the robotic arm comprises an actuator and a drive mechanism, and the drive mechanism and the actuator are connected in a driving manner; the actuator includes A turntable body, a first executive arm, a second executive arm, a first connecting body and a second connecting body, wherein the turntable body is fixed on the drive mechanism, the first executive arm and the turntable body are drivingly connected, and the first executive arm and the turntable body are drivingly connected. An actuator arm and a second actuator arm are hingedly connected through a first connection body (36); the free end of the second actuator arm is connected to the second connection body (30). 4. A kind of hazardous chemical disaster site reconnaissance sampling robot according to claim 3, is characterized in that, described drive mechanism comprises the first step motor (16), the second reducer (17), the driving bevel gear ( 18), the driven bevel gear (23), the first output shaft (22), the thrust ball bearing (24), the rolling bearing (20) and the centering ring (21), wherein the output shaft of the first stepping motor (16) The second reducer (17) is connected, and the output shaft of the second reducer (17) is connected to the driving bevel gear (18); the driven bevel gear (23) is sleeved on the first output shaft (22), and the driven bevel gear (23) is The moving bevel gear (23) is meshed with the driving bevel gear (18); the thrust ball bearing (24) is fixed on the first motor bracket (1601), and one end of the first output shaft (22) is mounted on the first motor bracket (1601). on the thrust ball bearing (24); A rolling bearing (20) is sleeved on the other end of the first output shaft (22), and a centering ring (21) is sleeved on the rolling bearing (20); A turntable (1602) is connected to the other end of the first output shaft (22) through the first motor bracket; The axis of the first output shaft (22) and the axis of the output shaft of the second reducer (17) are perpendicular to each other; the turntable body is mounted on the turntable (1602). 5. A hazardous chemical disaster site reconnaissance sampling robot according to claim 3, wherein the turntable body comprises a second stepper motor (29), a second motor support (26), a third reducer (25) and the second output shaft, wherein the output shaft of the second stepping motor (29) is connected to the third reducer (25), and the output shaft of the third reducer (25) is sleeved with a bevel gear, so The bevel gear is meshed with a first bevel gear (28), the first bevel gear (28) is sleeved on one end of the second output shaft, and the other end of the second output shaft is connected to the first actuator arm; The axes of the two output shafts and the axis of the third reducer (25) are perpendicular to each other. 6. A hazardous chemical disaster site reconnaissance and sampling robot according to claim 3, characterized in that the first actuator arm comprises a first connector (35), and one end of the first connector (35) is fixedly connected with one end of the first connecting body (36); the other end of the first connecting body (36) is hingedly connected with the second executing arm; the second executing arm includes a second connecting member (34), the second One end of the connecting piece (34) is hingedly connected with the first connecting body (36); the other end of the second connecting piece (34) is fixedly connected with the second connecting body (30). 7. A hazardous chemical disaster site reconnaissance and sampling robot according to claim 3, characterized in that the first connecting body (36) and the second connecting body (30) have the same structure, wherein the first connecting body (30) has the same structure. (36) is a frame structure; a stepper motor is installed on the first connecting body (36), a third bevel gear is sleeved on the output shaft of the stepper motor, and a fourth bevel gear is meshed and connected to the third bevel gear Gear, the fourth bevel gear is sleeved on one end of the third transmission shaft, and the third transmission shaft is mounted on the first connecting body (36); the other end of the third transmission shaft is drivingly connected with a second connecting piece (34); a third stepping motor (33) is installed on the second connecting body (30), a fifth bevel gear is sleeved on the output shaft of the third stepping motor (33), and the fifth The bevel gear is meshed with a second bevel gear (31), the second bevel gear (31) is sleeved on one end of the first transmission shaft (32), and the other end of the first transmission shaft (32) is drivingly connected with a sampling device. 8. A hazardous chemical disaster site reconnaissance sampling robot according to claim 1, wherein the sampler comprises a fourth stepper motor (44), a first flange seat (42), a first end A cover (38) and a first outer ring slideway (39), wherein the fourth stepper motor (44) is fixed on the first flange seat (42); the first flange seat (42) is connected to the first outer ring One end of the slideway (39) is connected; the other end of the first outer ring slideway (39) is connected to the first end cover (38); the output shaft of the fourth stepper motor (44) is connected to the second transmission shaft (43); a first bearing (41) is sleeved on the second transmission shaft (43), and the first bearing (41) is fixed on the first flange seat (42); the second transmission shaft (43) The free end of 43) is also sleeved with a first cylindrical cam (40), and the first cylindrical cam (40) is fixed on the second transmission shaft (43); the first cylindrical cam (40) is placed on the first cylindrical cam (40). The cylindrical surface of the outer ring slideway (39) leads straight into the inner cavity of the slideway, and the two are arranged coaxially; the cylindrical surface of the first outer ring slideway (39) leads straight into the inner cavity of the slideway, and a plurality of a first sliding block (45), a plurality of first sliding blocks (45) are evenly distributed along the circumferential direction of the first outer ring slideway; Each first sliding block (45) is slidably connected with the inner wall of the first outer ring slideway (39); each first sliding block (45) is provided with a first groove, and the first groove A sampling needle (46) is installed, and the free end of the sampling needle (46) is connected with a puncture needle sampling container through a hose; each first slider (45) is provided with a guide rod, which is sleeved with a guide rod. A first return spring (47), the free end of the first return spring (47) is placed in a spring guide groove opened on the first end cover (38). 9. A hazardous chemical disaster site reconnaissance sampling robot according to claim 8, wherein the sampling container comprises a fifth stepping motor (48), a second flange seat (49), a fourth transmission A shaft (50), a second bearing (51), a second cylindrical cam (52), a second outer ring slideway (53), a second end cover (54), a cage (55) and a housing (57), wherein , the fifth stepper motor (48) is sequentially connected with the second flange seat (49), the second outer ring slideway (53), the second end cover (54), the cage (55) and the housing (57); The output shaft of the fifth stepping motor (48) is connected to a fourth transmission shaft (50), a second bearing (51) is sleeved on the fourth transmission shaft (50), and the second bearing (51) is installed on the bearing seat on the second flange seat (49); The free end of the fourth transmission shaft (50) is also sleeved with a second cylindrical cam (52); The second cylindrical cam (52) is placed in the inner cavity of the second outer ring slideway (53) on the cylindrical surface of the straight slideway, and the two are arranged coaxially; A plurality of second sliders (58) are evenly distributed in the inner cavity of the second outer ring slideway (53) along the circumferential direction thereof; the second sliders (58) and the second outer ring slideway (53) ) is slidably connected to the side wall of the inner cavity of the straight slideway; Each second slider (58) is provided with a second groove, a puncture needle (59) is installed in the second groove, and one end of each puncture needle (59) is connected to the sampler through a hose; The other end of each puncture needle (59) is connected with a vacuum tube (61), one end of the vacuum tube (61) is mounted on the holder (55), and the other end is mounted on the housing (57); The second sliding block (58) is provided with a guide rod, a second return spring (60) is sleeved on the guide rod, and the free end of the second return spring (60) is placed on the second end cover (54). ) in the spring guide slot opened on the . 10. A hazardous chemical disaster site reconnaissance sampling robot according to claim 9, characterized in that, a buckle (56) is provided on the outer side wall of the casing (57), and the buckle (56) is connected with the first The two outer ring slideways (53) are connected.

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